MOBILE ROBOTIC SYSTEM OF FLOWING WELLS MRK-FS Russian patent published in 2020 - IPC E21B35/00 A62C3/06 

FIELD: mining.

SUBSTANCE: invention relates to oil-producing and prospecting industries and is intended for guiding air-defense assembly at the mouth of a flowing well, including a burning well, as well as its sealing and for emergency operations for preparing wellhead area of a flowing well for guiding air defense assembly. Mobile robotic complex consists of caterpillar chassis with a platform attached to chassis transverse beams, a gripper of tubular enclosing the casing, devices for movement and guidance of the air defense assembly, power plant based on internal combustion engine with hydraulic pump unit with controlled supply of working fluid, electric and hydraulic automation units, remote communication systems based on digital radio channel and command-information cable with remote control and technical vision posts. At that, platform is equipped at front angles with remote and lifting pivotally mounted on axles, and at rear with stationary cargo supports with independent lifting gears of chassis platform and equipped with automatic leveling system. Automatic leveling system consists of separate video cameras enclosed in protective casings. To guide the air defense assembly at the mouth of the flowing well, the tube grip is attached to the front transverse beam of the chassis. Device for movement and guidance of the air defense assembly is placed on a landing gear platform and comprises a guide rail made of double-tee beams fixed by a front end by means of posts to the housing of the pipe grip, and in the middle part and by a rear end on the landing gear platform and bearing assembly. Bearing assembly provides transportation of air defense assembly to wellhead and guidance on well head. Carrying assembly is assembled of two wheeled trolleys, interconnected from front by web, arranged on top, and closer to rear ends – support tightening with installed on its middle part post, made of two double-tee beams, upper ends of which are rigidly connected to each other by transverse brace, forming frame structure, and on each lateral side diverging towards the bottom, towards wheeled trolleys, two struts connected to each other by longitudinal webs, and lower ends with wheeled trolleys. At that, bearing assembly is equipped with hydraulic drives of horizontal movement of bearing assembly with air defense assembly fixed in front of it, along guide platform to mouth by means of upper branches of chain transmissions arranged between flanges of double-tee beams inside it, and links of which are attached to bogies of bearing assembly by attachment assemblies. Fixation of air defense assembly to bearing assembly is made by means of brackets rigidly fixed on upper and lower flanges of air defense assembly, each bracket – on two trolleys with rollers arranged at corners in front of double-tee beams of frame stand, and in middle part – behind double-tee beams and enveloping them. Tube gripper is equipped with replaceable straps with toothed notches and is equipped with mechanism to shut off supply of working fluid to hydraulic transmission of caterpillar chassis run for its forward movement.

EFFECT: high efficiency of guiding air-defense assembly on the wellhead, broader range of functional capabilities of the system.

1 cl, 34 dwg